Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

Abstract

The transition to agile manufacturing, Industry 4.0, and high-mix-low-volume tasks require robot programming solutions that are flexible. However, most deployed robot solutions are still statically programmed and use stiff position control, which limit their usefulness. In this paper, we show how a single robot skill that utilizes knowledge representation, task planning, and automatic selection of skill implementations based on the input parameters can be executed in different contexts. We demonstrate how the skill-based control platform enables this with contact-rich wiping tasks on different robot systems. To achieve that in this case study, our approach needs to address different kinematics, gripper types, vendors, and fundamentally different control interfaces. We conducted the experiments with a mobile platform that has a Universal Robots UR5e 6 degree-of-freedom robot arm with position control and a 7 degree-of-freedom KUKA iiwa with torque control.

Original languageEnglish
Title of host publication2023 IEEE 19th International Conference on Automation Science and Engineering, CASE 2023
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350320695
DOIs
Publication statusPublished - 2023
Event19th IEEE International Conference on Automation Science and Engineering, CASE 2023 - Auckland, New Zealand
Duration: 2023 Aug 262023 Aug 30

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2023-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference19th IEEE International Conference on Automation Science and Engineering, CASE 2023
Country/TerritoryNew Zealand
CityAuckland
Period2023/08/262023/08/30

Subject classification (UKÄ)

  • Robotics

Free keywords

  • Robotics
  • Knowledge Representation
  • Task Planning

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